� BallBot V1.0
 � (C) Dominic Ford 1997
:
 � Setup variables

& ȡ 1,"StringLib-Soft":*STEREO 1 0

) ȡ 2,"StringLib-Soft":*STEREO 2 -127
( ȡ 3,"StringLib-Soft":*STEREO 3 127
: current=0:�ball(4,1):bbx=640:bby=950:dir=270:�setupbb
 �0:ȗ �:�drawfull
 :
 � Start main loop

 �:T=�
(
 �user
2 � idle � � �
< �sense
F mov=�ai(freqa,freqb,freqc)
G fwd=(mov � 1)<>0
H reverse=(mov � 2)<>0
I left=(mov � 4)<>0
J right=(mov � 8)<>0
P �moveit
W � � �>T+8
Z � �
d :
n � Graphic interface
� ��drawfull
� �:�0,1:ȓ0,0,1279,1023
� � 640,100:� 640,924
 �drawmini
 �
 :
 � Draw ballbot and balls
 ��drawmini
$ �3,1:�b=0�4
.; � ball(b,0)<>0 � ball(b,1)<>0 � Ȓ ball(b,0),ball(b,1)
8 �
: �3,1:Ȓbbx,bby
B �
l :
v* � User interface (putting balls down)
� ��user
�
 ȗ x,y,c
� � c=0 � �
�a � (c � 4)<>0 � �drawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)�5:�drawmini
�" � (c � 2)<>0 � idle=�:stage=0
� �
�
 ȗ x,y,c
�
 � c=0
� �
 :
' � Calculate ballbot's new position
�
 ��moveit
� � left � dir=dir-5
� � right � dir=dir+5
� fr=0:� fwd � fr=fr+1
� � reverse � fr=fr-1
�( �drawmini:bbx=bbx+5*�(�*dir/180)*fr
�( bby=bby+5*�(�*dir/180)*fr:�drawmini
� �
� :
�; � Calculate ballbot's background echo reading (-balls)
� ݤback(x,y,freq)
�0 � Calculate Angle of net as seen by Ballbot
� � freqa
�+ netlow=(�angle(640,923,x,y)-dir) � 360
�# � netlow<0 � netlow=netlow+360
�% � netlow>180 � netlow=netlow-360
�* nethi=(�angle(640,100,x,y)-dir) � 360
�  � nethi<0 � nethi=nethi+360
�" � nethi>180 � nethi=nethi-360
� :
� � Calculate reading
� freqa=freq+�(6)-3
ڃ � �(�(�*dir/180))>0.01 � � ((netlow<0 � nethi>0) � (nethi<0 � netlow>0)) � (640-x)/�(�*dir/180)>0 � freqa=(640-x)/�(�*dir/180)
� =freqa
� :
� ��sense
# � Calculate Ballbot's readings
 freq=�(250)+1500
 freqa=�back(bbx,bby,freq)
 < freqb=�back(bbx-5*�(�*dir/180),bby-5*�(�*dir/180),freq)
*< freqc=�back(bbx+5*�(�*dir/180),bby+5*�(�*dir/180),freq)
t �0,31)netlow,nethi,stage;
y: � 1,-10,freqa/4,5:� 2,-10,freqb/4,5:� 3,-10,freqc/4,5
~ �
�:
�$ � Calculate bearing of B from A
� ݤangle(x1,y1,x2,y2)
�! ang=180*�((x2-x1)/(y2-y1))/�
� � (y2>y1) � ang=ang+180
� =ang � 360
r :
|* � BALLBOT ROBOTIC INTELLIGENCE MODULE
� :
p ݤai(freqa,freqb,freqc)
z9 � Artificial intelligence routines (ie. What Next??)
| �fwd,reverse,left,right
# fwd=�:reverse=�:left=�:right=�
� :
�@ � What stage are we in? Hunt for balls or move to new area?
� :
�  � stage=0 � stage=2 � �hunt
�# � stage=1 � stage=3 � �moveout
� � stage=4 � �releaseb
� feed=0:� fwd � feed=feed+1
� � reverse � feed=feed+2
� � left � feed=feed+4
� � right � feed=feed+8
�
 =feed
� :
�( � Perform a sweep to find any balls
� ��hunt
�� � (freqa<20 � freqb<20 � freqc<20) � (reving � freqa<100 � freqb<100 � freqc<100) � searching=searching/2:reving=�:reverse=�:fwd=�:left=�:right=�:�
�
 reving=�
�D � (freqc*1.5)<freqa � (freqc*1.5)<freqb � right=�:searching=0:�
�C � (freqb*1.5)<freqa � (freqb*1.5)<freqc � left=�:searching=0:�
�! left=�:searching=searching+1
�# � searching>36 � stage=stage+1
� �
� :
�< � Find edge of net and aim for it to move to other side
� ��moveout
ߚ � (freqa<30 � freqb<30 � freqc<30) � (reving � (freqa<125 � freqb<125 � freqc<125)) � searching=searching/2:reving=�:reverse=�:fwd=�:left=�:right=�:�
�
 reving=�
�. � freqb<40 � freqa>250 � right=�:near=1:�
�4 � freqa<200 � freqb<200 � freqc<200 � right=�:�
� � near<>0 � �donearstuff:�
�8 � (freqb*1.5)<freqc � (freqa*1.5)<freqc � right=�:�
�# � (freqb*1.5)>freqc � left=�:�
8 �
= :
BG � Nearly there... Just need a little nudge in the right direction.
C ��donearstuff
D near=near+1
E � near<4 � right=�:�
F left=�
G$ � near>7 � near=0:stage=stage+1
H �
I :
L ��setupbb
V? reving=�:left=�:right=�:fwd=�:reverse=�:searching=0:idle=�
[ near=�
` �
j :
t ��releaseb
~- � Got all the balls, now just dump them!
�  near=near+1:reverse=�:fwd=�
� � near>9 � idle=�:near=�
� �
N D �:�X=1�12:�"CHANNELVOICE 1 "+�X:�1,-10,52,100:�R=0�10000:�,:� �
�

00000000  0d 00 01 13 20 f4 20 42  61 6c 6c 42 6f 74 20 56  |.... . BallBot V|
00000010  31 2e 30 0d 00 02 1c 20  f4 20 28 43 29 20 44 6f  |1.0.... . (C) Do|
00000020  6d 69 6e 69 63 20 46 6f  72 64 20 31 39 39 37 0d  |minic Ford 1997.|
00000030  00 05 05 3a 0d 00 07 16  20 f4 20 53 65 74 75 70  |...:.... . Setup|
00000040  20 76 61 72 69 61 62 6c  65 73 0d 00 0a 26 20 c8  | variables...& .|
00000050  a1 20 31 2c 22 53 74 72  69 6e 67 4c 69 62 2d 53  |. 1,"StringLib-S|
00000060  6f 66 74 22 3a 2a 53 54  45 52 45 4f 20 31 20 30  |oft":*STEREO 1 0|
00000070  0d 00 0d 29 20 c8 a1 20  32 2c 22 53 74 72 69 6e  |...) .. 2,"Strin|
00000080  67 4c 69 62 2d 53 6f 66  74 22 3a 2a 53 54 45 52  |gLib-Soft":*STER|
00000090  45 4f 20 32 20 2d 31 32  37 0d 00 10 28 20 c8 a1  |EO 2 -127...( ..|
000000a0  20 33 2c 22 53 74 72 69  6e 67 4c 69 62 2d 53 6f  | 3,"StringLib-So|
000000b0  66 74 22 3a 2a 53 54 45  52 45 4f 20 33 20 31 32  |ft":*STEREO 3 12|
000000c0  37 0d 00 14 3a 20 63 75  72 72 65 6e 74 3d 30 3a  |7...: current=0:|
000000d0  de 62 61 6c 6c 28 34 2c  31 29 3a 62 62 78 3d 36  |.ball(4,1):bbx=6|
000000e0  34 30 3a 62 62 79 3d 39  35 30 3a 64 69 72 3d 32  |40:bby=950:dir=2|
000000f0  37 30 3a f2 73 65 74 75  70 62 62 0d 00 19 16 20  |70:.setupbb.... |
00000100  eb 30 3a c8 97 20 ee 3a  f2 64 72 61 77 66 75 6c  |.0:.. .:.drawful|
00000110  6c 0d 00 1b 06 20 3a 0d  00 1c 16 20 f4 20 53 74  |l.... :.... . St|
00000120  61 72 74 20 6d 61 69 6e  20 6c 6f 6f 70 0d 00 1e  |art main loop...|
00000130  0a 20 f5 3a 54 3d 91 0d  00 28 0a 20 f2 75 73 65  |. .:T=...(. .use|
00000140  72 0d 00 32 11 20 e7 20  69 64 6c 65 20 8c 20 fd  |r..2. . idle . .|
00000150  20 a3 0d 00 3c 0b 20 f2  73 65 6e 73 65 0d 00 46  | ...<. .sense..F|
00000160  1f 20 6d 6f 76 3d a4 61  69 28 66 72 65 71 61 2c  |. mov=.ai(freqa,|
00000170  66 72 65 71 62 2c 66 72  65 71 63 29 0d 00 47 15  |freqb,freqc)..G.|
00000180  20 66 77 64 3d 28 6d 6f  76 20 80 20 31 29 3c 3e  | fwd=(mov . 1)<>|
00000190  30 0d 00 48 19 20 72 65  76 65 72 73 65 3d 28 6d  |0..H. reverse=(m|
000001a0  6f 76 20 80 20 32 29 3c  3e 30 0d 00 49 16 20 6c  |ov . 2)<>0..I. l|
000001b0  65 66 74 3d 28 6d 6f 76  20 80 20 34 29 3c 3e 30  |eft=(mov . 4)<>0|
000001c0  0d 00 4a 17 20 72 69 67  68 74 3d 28 6d 6f 76 20  |..J. right=(mov |
000001d0  80 20 38 29 3c 3e 30 0d  00 50 0c 20 f2 6d 6f 76  |. 8)<>0..P. .mov|
000001e0  65 69 74 0d 00 57 0e 20  f5 20 fd 20 91 3e 54 2b  |eit..W. . . .>T+|
000001f0  38 0d 00 5a 08 20 fd 20  a3 0d 00 64 06 20 3a 0d  |8..Z. . ...d. :.|
00000200  00 6e 18 20 f4 20 47 72  61 70 68 69 63 20 69 6e  |.n. . Graphic in|
00000210  74 65 72 66 61 63 65 0d  03 e8 0f 20 dd f2 64 72  |terface.... ..dr|
00000220  61 77 66 75 6c 6c 0d 03  f2 1b 20 db 3a e6 30 2c  |awfull.... .:.0,|
00000230  31 3a c8 93 30 2c 30 2c  31 32 37 39 2c 31 30 32  |1:..0,0,1279,102|
00000240  33 0d 03 fc 18 20 ec 20  36 34 30 2c 31 30 30 3a  |3.... . 640,100:|
00000250  df 20 36 34 30 2c 39 32  34 0d 04 06 0e 20 f2 64  |. 640,924.... .d|
00000260  72 61 77 6d 69 6e 69 0d  04 10 06 20 e1 0d 04 12  |rawmini.... ....|
00000270  06 20 3a 0d 04 14 1d 20  f4 20 44 72 61 77 20 62  |. :.... . Draw b|
00000280  61 6c 6c 62 6f 74 20 61  6e 64 20 62 61 6c 6c 73  |allbot and balls|
00000290  0d 04 1a 0f 20 dd f2 64  72 61 77 6d 69 6e 69 0d  |.... ..drawmini.|
000002a0  04 24 10 20 e6 33 2c 31  3a e3 62 3d 30 b8 34 0d  |.$. .3,1:.b=0.4.|
000002b0  04 2e 3b 20 e7 20 62 61  6c 6c 28 62 2c 30 29 3c  |..; . ball(b,0)<|
000002c0  3e 30 20 84 20 62 61 6c  6c 28 62 2c 31 29 3c 3e  |>0 . ball(b,1)<>|
000002d0  30 20 8c 20 c8 92 20 62  61 6c 6c 28 62 2c 30 29  |0 . .. ball(b,0)|
000002e0  2c 62 61 6c 6c 28 62 2c  31 29 0d 04 38 06 20 ed  |,ball(b,1)..8. .|
000002f0  0d 04 3a 13 20 e6 33 2c  31 3a c8 92 62 62 78 2c  |..:. .3,1:..bbx,|
00000300  62 62 79 0d 04 42 06 20  e1 0d 07 6c 06 20 3a 0d  |bby..B. ...l. :.|
00000310  07 76 2a 20 f4 20 55 73  65 72 20 69 6e 74 65 72  |.v* . User inter|
00000320  66 61 63 65 20 28 70 75  74 74 69 6e 67 20 62 61  |face (putting ba|
00000330  6c 6c 73 20 64 6f 77 6e  29 0d 07 d0 0b 20 dd f2  |lls down).... ..|
00000340  75 73 65 72 0d 07 da 0d  20 c8 97 20 78 2c 79 2c  |user.... .. x,y,|
00000350  63 0d 07 df 0e 20 e7 20  63 3d 30 20 8c 20 e1 0d  |c.... . c=0 . ..|
00000360  07 e4 61 20 e7 20 28 63  20 80 20 34 29 3c 3e 30  |..a . (c . 4)<>0|
00000370  20 8c 20 f2 64 72 61 77  6d 69 6e 69 3a 62 61 6c  | . .drawmini:bal|
00000380  6c 28 63 75 72 72 65 6e  74 2c 30 29 3d 78 3a 62  |l(current,0)=x:b|
00000390  61 6c 6c 28 63 75 72 72  65 6e 74 2c 31 29 3d 79  |all(current,1)=y|
000003a0  3a 63 75 72 72 65 6e 74  3d 28 63 75 72 72 65 6e  |:current=(curren|
000003b0  74 2b 31 29 83 35 3a f2  64 72 61 77 6d 69 6e 69  |t+1).5:.drawmini|
000003c0  0d 07 ee 22 20 e7 20 28  63 20 80 20 32 29 3c 3e  |..." . (c . 2)<>|
000003d0  30 20 8c 20 69 64 6c 65  3d a3 3a 73 74 61 67 65  |0 . idle=.:stage|
000003e0  3d 30 0d 07 f3 06 20 f5  0d 07 f5 0d 20 c8 97 20  |=0.... ..... .. |
000003f0  78 2c 79 2c 63 0d 07 f6  0a 20 fd 20 63 3d 30 0d  |x,y,c.... . c=0.|
00000400  07 f8 06 20 e1 0d 08 02  06 20 3a 0d 08 0c 27 20  |... ..... :...' |
00000410  f4 20 43 61 6c 63 75 6c  61 74 65 20 62 61 6c 6c  |. Calculate ball|
00000420  62 6f 74 27 73 20 6e 65  77 20 70 6f 73 69 74 69  |bot's new positi|
00000430  6f 6e 0d 0b b8 0d 20 dd  f2 6d 6f 76 65 69 74 0d  |on.... ..moveit.|
00000440  0b bd 17 20 e7 20 6c 65  66 74 20 8c 20 64 69 72  |... . left . dir|
00000450  3d 64 69 72 2d 35 0d 0b  bf 18 20 e7 20 72 69 67  |=dir-5.... . rig|
00000460  68 74 20 8c 20 64 69 72  3d 64 69 72 2b 35 0d 0b  |ht . dir=dir+5..|
00000470  c0 19 20 66 72 3d 30 3a  e7 20 66 77 64 20 8c 20  |.. fr=0:. fwd . |
00000480  66 72 3d 66 72 2b 31 0d  0b c1 18 20 e7 20 72 65  |fr=fr+1.... . re|
00000490  76 65 72 73 65 20 8c 20  66 72 3d 66 72 2d 31 0d  |verse . fr=fr-1.|
000004a0  0b c2 28 20 f2 64 72 61  77 6d 69 6e 69 3a 62 62  |..( .drawmini:bb|
000004b0  78 3d 62 62 78 2b 35 2a  b5 28 af 2a 64 69 72 2f  |x=bbx+5*.(.*dir/|
000004c0  31 38 30 29 2a 66 72 0d  0b cc 28 20 62 62 79 3d  |180)*fr...( bby=|
000004d0  62 62 79 2b 35 2a 9b 28  af 2a 64 69 72 2f 31 38  |bby+5*.(.*dir/18|
000004e0  30 29 2a 66 72 3a f2 64  72 61 77 6d 69 6e 69 0d  |0)*fr:.drawmini.|
000004f0  0b d6 06 20 e1 0d 0b e0  06 20 3a 0d 11 8a 3b 20  |... ..... :...; |
00000500  f4 20 43 61 6c 63 75 6c  61 74 65 20 62 61 6c 6c  |. Calculate ball|
00000510  62 6f 74 27 73 20 62 61  63 6b 67 72 6f 75 6e 64  |bot's background|
00000520  20 65 63 68 6f 20 72 65  61 64 69 6e 67 20 28 2d  | echo reading (-|
00000530  62 61 6c 6c 73 29 0d 11  94 15 20 dd a4 62 61 63  |balls).... ..bac|
00000540  6b 28 78 2c 79 2c 66 72  65 71 29 0d 11 9e 30 20  |k(x,y,freq)...0 |
00000550  f4 20 43 61 6c 63 75 6c  61 74 65 20 41 6e 67 6c  |. Calculate Angl|
00000560  65 20 6f 66 20 6e 65 74  20 61 73 20 73 65 65 6e  |e of net as seen|
00000570  20 62 79 20 42 61 6c 6c  62 6f 74 0d 11 a3 0c 20  | by Ballbot.... |
00000580  ea 20 66 72 65 71 61 0d  11 a8 2b 20 6e 65 74 6c  |. freqa...+ netl|
00000590  6f 77 3d 28 a4 61 6e 67  6c 65 28 36 34 30 2c 39  |ow=(.angle(640,9|
000005a0  32 33 2c 78 2c 79 29 2d  64 69 72 29 20 83 20 33  |23,x,y)-dir) . 3|
000005b0  36 30 0d 11 ad 23 20 e7  20 6e 65 74 6c 6f 77 3c  |60...# . netlow<|
000005c0  30 20 8c 20 6e 65 74 6c  6f 77 3d 6e 65 74 6c 6f  |0 . netlow=netlo|
000005d0  77 2b 33 36 30 0d 11 af  25 20 e7 20 6e 65 74 6c  |w+360...% . netl|
000005e0  6f 77 3e 31 38 30 20 8c  20 6e 65 74 6c 6f 77 3d  |ow>180 . netlow=|
000005f0  6e 65 74 6c 6f 77 2d 33  36 30 0d 11 b2 2a 20 6e  |netlow-360...* n|
00000600  65 74 68 69 3d 28 a4 61  6e 67 6c 65 28 36 34 30  |ethi=(.angle(640|
00000610  2c 31 30 30 2c 78 2c 79  29 2d 64 69 72 29 20 83  |,100,x,y)-dir) .|
00000620  20 33 36 30 0d 11 b7 20  20 e7 20 6e 65 74 68 69  | 360...  . nethi|
00000630  3c 30 20 8c 20 6e 65 74  68 69 3d 6e 65 74 68 69  |<0 . nethi=nethi|
00000640  2b 33 36 30 0d 11 b9 22  20 e7 20 6e 65 74 68 69  |+360..." . nethi|
00000650  3e 31 38 30 20 8c 20 6e  65 74 68 69 3d 6e 65 74  |>180 . nethi=net|
00000660  68 69 2d 33 36 30 0d 11  bc 06 20 3a 0d 11 c6 18  |hi-360.... :....|
00000670  20 f4 20 43 61 6c 63 75  6c 61 74 65 20 72 65 61  | . Calculate rea|
00000680  64 69 6e 67 0d 11 d0 16  20 66 72 65 71 61 3d 66  |ding.... freqa=f|
00000690  72 65 71 2b b3 28 36 29  2d 33 0d 11 da 83 20 e7  |req+.(6)-3.... .|
000006a0  20 94 28 b5 28 af 2a 64  69 72 2f 31 38 30 29 29  | .(.(.*dir/180))|
000006b0  3e 30 2e 30 31 20 8c 20  e7 20 28 28 6e 65 74 6c  |>0.01 . . ((netl|
000006c0  6f 77 3c 30 20 80 20 6e  65 74 68 69 3e 30 29 20  |ow<0 . nethi>0) |
000006d0  84 20 28 6e 65 74 68 69  3c 30 20 80 20 6e 65 74  |. (nethi<0 . net|
000006e0  6c 6f 77 3e 30 29 29 20  80 20 28 36 34 30 2d 78  |low>0)) . (640-x|
000006f0  29 2f b5 28 af 2a 64 69  72 2f 31 38 30 29 3e 30  |)/.(.*dir/180)>0|
00000700  20 8c 20 66 72 65 71 61  3d 28 36 34 30 2d 78 29  | . freqa=(640-x)|
00000710  2f b5 28 af 2a 64 69 72  2f 31 38 30 29 0d 11 e4  |/.(.*dir/180)...|
00000720  0b 20 3d 66 72 65 71 61  0d 11 ee 06 20 3a 0d 11  |. =freqa.... :..|
00000730  f8 0c 20 dd f2 73 65 6e  73 65 0d 12 02 23 20 f4  |.. ..sense...# .|
00000740  20 43 61 6c 63 75 6c 61  74 65 20 42 61 6c 6c 62  | Calculate Ballb|
00000750  6f 74 27 73 20 72 65 61  64 69 6e 67 73 0d 12 0c  |ot's readings...|
00000760  15 20 66 72 65 71 3d b3  28 32 35 30 29 2b 31 35  |. freq=.(250)+15|
00000770  30 30 0d 12 16 1e 20 66  72 65 71 61 3d a4 62 61  |00.... freqa=.ba|
00000780  63 6b 28 62 62 78 2c 62  62 79 2c 66 72 65 71 29  |ck(bbx,bby,freq)|
00000790  0d 12 20 3c 20 66 72 65  71 62 3d a4 62 61 63 6b  |.. < freqb=.back|
000007a0  28 62 62 78 2d 35 2a 9b  28 af 2a 64 69 72 2f 31  |(bbx-5*.(.*dir/1|
000007b0  38 30 29 2c 62 62 79 2d  35 2a b5 28 af 2a 64 69  |80),bby-5*.(.*di|
000007c0  72 2f 31 38 30 29 2c 66  72 65 71 29 0d 12 2a 3c  |r/180),freq)..*<|
000007d0  20 66 72 65 71 63 3d a4  62 61 63 6b 28 62 62 78  | freqc=.back(bbx|
000007e0  2b 35 2a 9b 28 af 2a 64  69 72 2f 31 38 30 29 2c  |+5*.(.*dir/180),|
000007f0  62 62 79 2b 35 2a b5 28  af 2a 64 69 72 2f 31 38  |bby+5*.(.*dir/18|
00000800  30 29 2c 66 72 65 71 29  0d 13 74 1f 20 f1 8a 30  |0),freq)..t. ..0|
00000810  2c 33 31 29 6e 65 74 6c  6f 77 2c 6e 65 74 68 69  |,31)netlow,nethi|
00000820  2c 73 74 61 67 65 3b 0d  13 79 3a 20 d4 20 31 2c  |,stage;..y: . 1,|
00000830  2d 31 30 2c 66 72 65 71  61 2f 34 2c 35 3a d4 20  |-10,freqa/4,5:. |
00000840  32 2c 2d 31 30 2c 66 72  65 71 62 2f 34 2c 35 3a  |2,-10,freqb/4,5:|
00000850  d4 20 33 2c 2d 31 30 2c  66 72 65 71 63 2f 34 2c  |. 3,-10,freqc/4,|
00000860  35 0d 13 7e 06 20 e1 0d  13 88 05 3a 0d 13 8d 24  |5..~. .....:...$|
00000870  20 f4 20 43 61 6c 63 75  6c 61 74 65 20 62 65 61  | . Calculate bea|
00000880  72 69 6e 67 20 6f 66 20  42 20 66 72 6f 6d 20 41  |ring of B from A|
00000890  0d 13 92 19 20 dd a4 61  6e 67 6c 65 28 78 31 2c  |.... ..angle(x1,|
000008a0  79 31 2c 78 32 2c 79 32  29 0d 13 9c 21 20 61 6e  |y1,x2,y2)...! an|
000008b0  67 3d 31 38 30 2a 99 28  28 78 32 2d 78 31 29 2f  |g=180*.((x2-x1)/|
000008c0  28 79 32 2d 79 31 29 29  2f af 0d 13 a6 1c 20 e7  |(y2-y1))/..... .|
000008d0  20 28 79 32 3e 79 31 29  20 8c 20 61 6e 67 3d 61  | (y2>y1) . ang=a|
000008e0  6e 67 2b 31 38 30 0d 13  b0 0f 20 3d 61 6e 67 20  |ng+180.... =ang |
000008f0  83 20 33 36 30 0d 15 72  06 20 3a 0d 15 7c 2a 20  |. 360..r. :..|* |
00000900  f4 20 42 41 4c 4c 42 4f  54 20 52 4f 42 4f 54 49  |. BALLBOT ROBOTI|
00000910  43 20 49 4e 54 45 4c 4c  49 47 45 4e 43 45 20 4d  |C INTELLIGENCE M|
00000920  4f 44 55 4c 45 0d 15 86  06 20 3a 0d 17 70 1c 20  |ODULE.... :..p. |
00000930  dd a4 61 69 28 66 72 65  71 61 2c 66 72 65 71 62  |..ai(freqa,freqb|
00000940  2c 66 72 65 71 63 29 0d  17 7a 39 20 f4 20 41 72  |,freqc)..z9 . Ar|
00000950  74 69 66 69 63 69 61 6c  20 69 6e 74 65 6c 6c 69  |tificial intelli|
00000960  67 65 6e 63 65 20 72 6f  75 74 69 6e 65 73 20 28  |gence routines (|
00000970  69 65 2e 20 57 68 61 74  20 4e 65 78 74 3f 3f 29  |ie. What Next??)|
00000980  0d 17 7c 1c 20 ea 66 77  64 2c 72 65 76 65 72 73  |..|. .fwd,revers|
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00001050  20 a3 0d ff                                       | ...|
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